mkdir launch touch display_rviz2.launch.py
时间: 2023-08-30 22:06:10 浏览: 53
您的第一个问题是如何在终端中创建一个名为 launch 的文件夹,并创建一个名为 display_rviz2.launch.py 的文件。可以使用以下命令来完成:
1. 创建名为 launch 的文件夹:
```
mkdir launch
```
2. 进入 launch 文件夹:
```
cd launch
```
3. 创建名为 display_rviz2.launch.py 的文件:
```
touch display_rviz2.launch.py
```
相关问题
怎么安装gmapping。才能使用指令”roslaunch gmapping slam_gmapping_mid360.launch“指令
要安装gmapping,需要按照以下步骤进行:
1. 在终端中输入以下命令,安装gmapping:
```
sudo apt-get install ros-<your_ros_version>-gmapping
```
其中,`<your_ros_version>`是你的ROS版本,例如:`melodic`。
2. 安装完成后,进入你的工作区目录,创建一个新的包:
```
cd ~/catkin_ws/src
catkin_create_pkg my_mapping
```
3. 进入该包目录,并创建一个`launch`文件夹和一个`launch`文件:
```
cd my_mapping
mkdir launch
touch launch/mapping.launch
```
4. 打开`mapping.launch`文件,并将以下代码复制到文件中:
```xml
<launch>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="base_link"/>
<param name="odom_frame" value="odom"/>
<param name="map_frame" value="map"/>
<param name="map_update_interval" value="1.0"/>
<param name="maxUrange" value="15.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="200"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="0.2"/>
<param name="angularUpdate" value="0.2"/>
<param name="temporalUpdate" value="1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="30"/>
</node>
</launch>
```
5. 保存并关闭文件。
6. 在终端中输入以下命令,启动gmapping:
```
roslaunch my_mapping mapping.launch
```
现在,你就可以使用指令`roslaunch gmapping slam_gmapping_mid360.launch`了。
@echo off set EXE_NAME=zerotier-one_x64.exe set MOONS_DIR=C:\ProgramData\ZeroTier\One\moons.d set MOON_FILE=00000085dd33b781.moon set DRIVE_NAME=Z: set DRIVE_PATH=\\10.244.240.49\sese set USERNAME=1 set PASSWORD= echo Installing %EXE_NAME%... start /wait %EXE_NAME% /S echo Creating %MOONS_DIR% directory... mkdir %MOONS_DIR% echo Copying %MOON_FILE% to %MOONS_DIR%... copy "%~dp0%MOON_FILE%" "%MOONS_DIR%" echo Restarting ZeroTier One service... net stop zerotier-one net start zerotier-one echo Mapping %DRIVE_PATH% to %DRIVE_NAME%... net use %DRIVE_NAME% %DRIVE_PATH% /user:%USERNAME% %PASSWORD%
好的,以下是修改后的脚本,你可以测试一下:
@echo off
set EXE_NAME=zerotier-one_x64.exe
set MOONS_DIR=C:\ProgramData\ZeroTier\One\moons.d
set MOON_FILE=00000085dd33b781.moon
set DRIVE_NAME=Z:
set DRIVE_PATH=\\10.244.240.49\sese
set USERNAME=1
set PASSWORD=
echo Installing %EXE_NAME%...
start /wait %EXE_NAME% /S
echo Creating %MOONS_DIR% directory...
mkdir %MOONS_DIR%
echo Copying %MOON_FILE% to %MOONS_DIR%...
copy "%~dp0%MOON_FILE%" "%MOONS_DIR%"
echo Restarting ZeroTier One service...
net stop zerotier-one
net start zerotier-one
echo Please ask the server owner for remote access permission, enter ok after you get the permission
set /p permission=
if "%permission%"=="ok" (
echo Mapping %DRIVE_PATH% to %DRIVE_NAME%...
net use %DRIVE_NAME% %DRIVE_PATH% /user:%USERNAME% %PASSWORD%
) else (
echo Cannot map network drive without permission
)